Image guided surgery trackers using multiple asynchronous sensors

Abstract

An apparatus and related methods using a variety of heterogeneous sensors to accurately track, in real time, the location of the tip of a surgical instrument inside the human body. The system accounts for real time changes in the surrounding environment during surgery, and when integrated with noninvasive image-guided surgery (IGS), this invention makes IGS possible and safe without tedious offline calibration. Sensors include, but are not limited to, optical, electromagnetic (EM), and sonar.

Description

[0001]This application claims benefit of and priority to U.S. Provisional Application No. 61 / 512,484, filed Jul. 28, 2011, by Ali T. Alouani, et al., and is entitled to that filing date for priority. The specification, figures and complete disclosure of U.S. Provisional Application No. 61 / 512,484 are incorporated herein by specific reference for all purposes.FIELD OF INVENTION[0002]This invention relates to an apparatus and a method that uses a variety of heterogeneous sensors to accurately track, in real time, the location of the tip of a surgical instrument inside the human body. It accounts for real time changes in the surrounding environment during surgery, and when integrated with noninvasive image-guided surgery (IGS), this invention makes IGS possible and safe without tedious offline calibration.BACKGROUND OF THE INVENTION[0003]In current medical practice, surgeons often use an open cavity to perform a surgery. This invasive procedure, besides being unnecessarily costly, impa...

AI Technical Summary

Benefits of technology

The patent text describes a system for improving the accuracy of tracking in image-guided surgery. The system uses multiple sensors, including long range and short range sensors, to provide accurate position information about the surgical instrument. This allows for better tracking of the instrument, even when it is inside the human body. The system also incorporates a real-time imaging modality, such as ultrasound, to track the imaging device and define the location of important features in the image. This information is used to further correct the tracking error and more accurately define the location of the surgical instrument. Overall, the system improves the accuracy of image-guided surgery and ensures safe and effective procedures.

Problems solved by technology

Long range sensors, for example, can be used to detect the presence of a potential target in a region or space, but may not provide accurate measurements of the position of the target.

Short range sensors can provide that accurate position information, but are not able to detect the presence of the target while it is far away.

The use of both long range and short range sensors can lead to the design of a successful system that is not possible when only one of the sensors is used alone.

However, such sensors cannot accurately track a flexible instrument whenever it is inside the human body in either an open or minimally invasive fashion.

However, such sensors are sensitive to magnetic distortions.

When used alone, each type of sensor can exhibit an accuracy degradation.

Images